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firestar5683
79c8945a41
Integrate torque feedback, lane-change smoothing and low-speed Turn Assist through dedicated lateral owners. Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: pharmacomaniac <blittle65@gmail.com>
80 lines
4.5 KiB
Markdown
80 lines
4.5 KiB
Markdown
# Lateral control
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The lane-centering contribution, torque controller and torque parameter source
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have separate owners. None grants steering permission: controlsd, the vehicle
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controller and Panda retain their existing authority and limits. See
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[TORQUE.md](TORQUE.md) for controller selection, learned parameters and manual
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factor/friction preferences.
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## Lane centering
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`LaneCenteringController.update` returns a bounded curvature contribution and
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an unclipped candidate. The host applies it after selecting the model or
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maneuver curvature and before the native curvature limiter. Longitudinal-only
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operation cannot authorize a lateral contribution.
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Both inner lane lines must have probability at least 0.6 and standard deviation
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at most 0.3 m, with lane width between 2.6 and 4.8 m. Offset is limited to
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0.3 m and 1.1 m center-to-line clearance. Lookahead follows speed within 8–35 m;
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the center-error deadband is 0.08 m. End-to-end authority controls how strongly
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a confident model path reduces the contribution between 0.15 and 0.50 m of
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center error. Raw curvature is capped at 0.004 and scaled by 0.30.
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Acquisition uses a 0.4 s exponential filter. Signal pause and confidence loss
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release the contribution over 0.2 s; driver override resets it immediately.
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Signal pause takes precedence over the lane-change reset when both apply.
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Malformed inputs and nonfinite settings are rejected. The host supplies elapsed
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time, model freshness and explicit clock discontinuities. The filter advances
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on each valid control tick even when the same model sample is held.
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`LaneCenteringHost` reads saved preferences at 1 Hz, including when a drive
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starts with Lane Centering off, so Favorites can enable it during the drive.
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Normal startup currently admits the tagged Ioniq 6 longitudinal configuration;
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other vehicles are not yet admitted. `LANE_CENTERING_REPLAY_RUNTIME=1` provides
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the separate offline replay path. Runtime checks require valid CAN, effective
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lateral authority, enabled preferences, and fresh carState, selfdriveState, modelV2 and
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vehicleParameters within 2.5 service periods. Missing evidence removes the
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contribution without changing the saved preferences.
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Tests cover geometry, filtering, overrides, curvature-source priority, native
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limiting and unchanged longitudinal commands. They do not establish vehicle
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qualification. This module derives from the lane-centering work introduced by
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jc01rho in `9f1066ce8380a2602beaf5d43fdb38ee6ec2dcbe`; the applicable MIT notice
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is retained in the repository LICENSE.
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## Automatic lane changes
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The ordinary lane-change path requires a driver nudge. The saved Auto option
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adds a delay of 0–5 s and minimum adjacent-lane width of 0–15 ft (stored in
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meters), defaulting to 1 s and 0 ft. The saved option takes effect at modeld
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startup on vehicles with configured steering control. Active lateral authority
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is required; cruise control and Always On Lateral preferences do not enable it.
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DesireHelper owns the transition, blindspot check and signal latch. Auto uses
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same-frame model evidence, current calibration, fresh carState/carControl,
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engaged lateral control and a recognized vehicle. Camera EOF age uses
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CLOCK_BOOTTIME; message and calibration timestamps use CLOCK_MONOTONIC.
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Adjacent width is the median distance between the inner and outer lane lines.
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A nearer road edge returns zero width. A saved minimum of zero skips the width
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requirement. Malformed geometry is rejected.
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The typed status in Event Data @126 supplies pre-change alert wording only when
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its model frame, camera EOF, direction and lifetime match. Missing or stale
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status produces neutral text and cannot affect engagement checks.
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## Vehicle-specific torque policies
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The Ioniq 6 policy retains separate 2023 and observed-firmware 2025 shaping for
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curvature history, low-speed control, asymmetric feedforward, friction and
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stop/pull-away behavior. The 2025 selection requires both firmware markers;
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missing evidence selects the standard variant. The policy applies its factor
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multiplier once per parameter update. Vehicle initialization uses factor 3.0
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and friction 0.09, with the original startup PID limits; subsequent learned or
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manual updates use the parameter-update contract described in TORQUE.md.
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Reference fixtures cover both Ioniq variants through stops, pull-away, highway,
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reversal and driver override, with independent non-Ioniq regression cases.
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Other explicit policies and the standard controller remain separate; tuning
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one platform must not change another platform's controller or parameter source.
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